Kinematics analysis and workspace optimization for a 4-DOF 3T1R parallel manipulator
文献类型：期刊论文
| 作者 | Zhao, Jie; Wu, Cuncun; Yang, Guilin; Chen, Chin-Yin; Chen, Silu; Xiong, Ciyuan; Zhang, Chi |
| 刊名 | MECHANISM AND MACHINE THEORY
 |
| 出版日期 | 2022 |
| 卷号 | 167 |
| 关键词 | SINGULARITY MECHANISM DESIGN DELTA |
| 英文摘要 | A four degrees-of-freedom (DOF) Parallel Manipulator (PM) with a 4PPa-2PaR configuration has been proposed to generate 3-DOF Translational and 1-DOF Rotational (3T1R) motions in our early work. It has the advantages of symmetric geometry, simple kinematics and infinite extension of translational workspace along its linear guide direction. However, its V-type assembly mode results in a long distance between its moving platform and the base, which makes its stiffness and accuracy lower. Besides, its the other two translational workspaces are limited due to its kinematic singularities. To overcome such limitations, the PM is modified by utilizing its M-type assembly mode and placing an offset angle to the last parallelogram mechanism. To simplify the displacement analysis, a geometrical projection method is employed, while a closed-loop vector approach is used for its instantaneous kinematic analysis. Both singularity and workspace issues are investigated. An optimization algorithm based on Genetic Algorithm is proposed to maximize the reachable workspace. The optimization result indicates that the workspace is significantly increased. A prototype of the M-type PM is fabricated to validate the effectiveness of the modified design. |
| 源URL | [http://ir.nimte.ac.cn/handle/174433/21253]  |
| 专题 | 2021专题_期刊论文 2022专题_期刊论文 |
| 作者单位 | Yang, GL (corresponding author), Chinese Acad Sci, Ningbo Inst Mat Technol & Engn, Ningbo 315201, Peoples R China. |
| 推荐引用方式 GB/T 7714 | Zhao, Jie,Wu, Cuncun,Yang, Guilin,et al. Kinematics analysis and workspace optimization for a 4-DOF 3T1R parallel manipulator[J]. MECHANISM AND MACHINE THEORY,2022,167. |
| APA | Zhao, Jie.,Wu, Cuncun.,Yang, Guilin.,Chen, Chin-Yin.,Chen, Silu.,...&Zhang, Chi.(2022).Kinematics analysis and workspace optimization for a 4-DOF 3T1R parallel manipulator.MECHANISM AND MACHINE THEORY,167. |
| MLA | Zhao, Jie,et al."Kinematics analysis and workspace optimization for a 4-DOF 3T1R parallel manipulator".MECHANISM AND MACHINE THEORY 167(2022). |
入库方式： OAI收割
来源：宁波材料技术与工程研究所
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